The present invention relates to a vehicle driving assisting apparatus comprising: a first camera including a first lens having a first view angle, and acquiring a first image of the front of a vehicle; a second camera including a second lens having a second view angle different from the first view angle, and acquiring a second image of the front of the vehicle; and a processor for detecting an object based on each of the first image and the second image, acquiring stereo images by respectively processing the first image and the second image, and performing a disparity calculation for the front of the vehicle based on the stereo image.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A vehicle driving assisting apparatus comprising: a first camera including a first lens having a first view angle, and acquiring a first image of a front of a vehicle, wherein the first lens is a narrow angle lens; a second camera including a second lens having a second view angle different from the first view angle, and acquiring a second image of the front of the vehicle, wherein the second lens is a wide angle lens; and a processor configured to: detect an object based on each of the first image and the second image; acquire stereo images by respectively processing the first image and the second image; and perform a disparity calculation for the front of the vehicle based on the stereo images, wherein the processor is further configured to: perform a binning process on the first image; perform a cropping process on the second image; and generate the stereo images based on the binning processed first image and the cropping processed second image, wherein the first image comprises a plurality of frames, wherein the second image comprises a plurality of frames, wherein the processor is configured to perform the binning process on first non-consecutive frames among the plurality of frames in the first image and perform the cropping process on second frames among the plurality of frames in the second image, and wherein the first frames correspond to the second frames that were cropping processed in the second image.
2. The vehicle driving assisting apparatus of claim 1 , wherein, when processing the first image and the second image respectively, the processor is configured to: adjust resolution, exposure level, and content of the first image and the second image and process the resolution, the exposure level, and the content of the first image and the second image coincide with each other.
3. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to detect the object based on a non-binning processed frame among the plurality of frames.
4. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to perform a binning process of the first image based on the second image.
5. A vehicle driving assisting apparatus comprising: a first camera including a first lens having a first view angle, and acquiring a first image of a front of a vehicle, wherein the first lens is a narrow angle lens; a second camera including a second lens having a second view angle different from the first view angle, and acquiring a second image of the front of the vehicle, wherein the second lens is a wide angle lens; and a processor configured to: detect an object based on each of the first image and the second image; acquire stereo images by respectively processing the first image and the second image; and perform a disparity calculation for the front of the vehicle based on the stereo images, wherein the processor is further configured to: perform a binning process on the first image; perform a cropping process on the second image; and generate the stereo images based on the binning processed first image and the cropping processed second image, wherein the first image comprises a plurality of frames, wherein the second image comprises a plurality of frames, wherein the processor is configured to perform the cropping process on first non-consecutive frames among the plurality of frames in the second image and perform the binning process on second frames among the plurality of frames in the first image, and wherein the first frames correspond to the second frames that were binning processed in the first image.
6. The vehicle driving assisting apparatus of claim 5 , wherein the processor is configured to detect the object based on a non-cropping processed frame among the plurality of frames.
7. The vehicle driving assisting apparatus of claim 5 , wherein the processor is configured to perform a cropping process of the second image based on the first image.
8. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to: detect the object from one of the stereo images; calculate a distance to the object or a relative speed with the object based on the disparity calculation.
9. The vehicle driving assisting apparatus of claim 8 , wherein the processor is configured to track a first object based on the second image, when a distance to the tracked first object is less than or equal to a reference value, in a state of tracking the first object detected based on the first image.
10. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to adjust a zoom magnification of the first camera or the second camera.
11. The vehicle driving assisting apparatus of claim 1 , further comprising an interface unit configured to exchange data with other apparatus, wherein the processor is configured to provide a vehicle drive unit with a control signal based on object information and disparity information through the interface unit.
12. The vehicle driving assisting apparatus of claim 11 , wherein the processor is configured to provide the control signal to a power source drive unit, a steering drive unit, or a brake drive unit of the vehicle.
13. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to perform a detection of an object located at a remote distance or an object tracking based on the first image.
14. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to perform a detection of an object located at a near distance or an emergency object detection based on the second image.
15. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to select either the first image or the second image as an image for detecting the object, based on a traveling speed of the vehicle.
16. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to perform a rectification processing for the binning processed first image or the cropping processed second image to generate stereo images.
17. The vehicle driving assisting apparatus of claim 1 , wherein the processor is configured to perform a rectification processing of the binning processed first image based on the cropping processed second image.
18. The vehicle driving assisting apparatus of claim 5 , wherein the processor is configured to perform a rectification processing of the cropping processed second image based on the binning processed first image.
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April 6, 2016
July 7, 2020
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